TY - GEN
T1 - Development of a novel robotic catheter manipulating system
AU - Ma, Xu
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Yoshida, Shunichi
AU - Tamiya, Takashi
PY - 2012
Y1 - 2012
N2 - Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes the surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy. Increasing demands for flexibility and fast reactions in control method, fuzzy control can play an important role because the experience of experts can be combined in the fuzzy control rules to be implemented in the systems. We present a practical application of fuzzy PID controller for this developed system during the remote operations and compare with the traditional PID control experimentally. The feasibility and effectiveness of the control method are demonstrated. The performance using the fuzzy PID control is much better than using the conventional control method.
AB - Manual operation of steerable catheter is inaccurate in minimally invasive surgery and requires dexterity for efficient manipulation of the catheter meanwhile exposes the surgeons to intense radiation. In this paper, our objective is to develop a remote control system that replaces the manipulation of surgeons with high accuracy. Increasing demands for flexibility and fast reactions in control method, fuzzy control can play an important role because the experience of experts can be combined in the fuzzy control rules to be implemented in the systems. We present a practical application of fuzzy PID controller for this developed system during the remote operations and compare with the traditional PID control experimentally. The feasibility and effectiveness of the control method are demonstrated. The performance using the fuzzy PID control is much better than using the conventional control method.
KW - Fuzzy PID Control
KW - Minimally Invasive Surgery
KW - Remote Operation
KW - Robotic Catheter Manipulating System
UR - http://www.scopus.com/inward/record.url?scp=84875650437&partnerID=8YFLogxK
U2 - 10.1109/3M-NANO.2012.6472966
DO - 10.1109/3M-NANO.2012.6472966
M3 - Conference contribution
AN - SCOPUS:84875650437
SN - 9781467345897
T3 - 2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012 - Conference Proceedings
SP - 44
EP - 49
BT - 2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012 - Conference Proceedings
T2 - 2012 2nd International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012
Y2 - 29 August 2012 through 1 September 2012
ER -